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Fork of AX-12A by
AX12.cpp
- Committer:
- jepickett
- Date:
- 2015-12-15
- Revision:
- 1:d7642b2e155d
- Parent:
- 0:1a48094c99d1
- Child:
- 2:7b970151bf19
- Child:
- 4:f2da3b1d9988
File content as of revision 1:d7642b2e155d:
/* mbed AX-12+ Servo Library - External hardware version */ #include "AX12.h" #include "mbed.h" AX12::AX12( DynamixelBus* pbus, ServoId ID) { _pbus = pbus; _ID = ID; } /*****/ StatusCode AX12::Ping() { return _pbus->Ping(_ID); } /*****/ StatusCode AX12::SetGoal(float degrees) { short goal = (short)((1024.0f * degrees) / 300.0f); CommBuffer data; data.push_back( goal & 0xff ); data.push_back( goal >> 8 ); // write the packet, return the error code int offset = ctGoalPositionL; return _pbus->Write(_ID, offset, data); } /*****/ bool AX12::IsMoving(void) { CommBuffer data; StatusCode s = _pbus->Read(_ID, ctMoving, 1, data); if( s == statusValid ) { return data[0] == 1; } else { return false; } } /*****/ float AX12::GetPosition() { CommBuffer data; StatusCode s = _pbus->Read(_ID, ctPresentPositionL, 2, data); if( s == statusValid ) { int16_t value = data[0] | (data[1] << 8); float degrees = (float)value * 300.0f / 1024.0f; return degrees; } else { return 0.0f; } } /*****/ int AX12::GetTemperature(void) { CommBuffer data; StatusCode s = _pbus->Read(_ID, ctPresentTemperature, 1, data); if( s == statusValid ) { return (int)data[0]; } else { return 0; } } /*****/ float AX12::GetSupplyVoltage(void) { CommBuffer data; StatusCode s = _pbus->Read(_ID, ctPresentVoltage, 1, data); if( s == statusValid ) { return (float)data[0] / 10.0f; } else { return 0.0f; } } StatusCode AX12::TorqueEnable(bool enable) { CommBuffer data; data.push_back( enable ? 1 : 0 ); int offset = ctTorqueEnable; return _pbus->Write(_ID, offset, data); }